1. Synchronization with Distributed Clocks (DC)
DC clock synchronization enables all EtherCAT devices (master and slaves) to share the same EtherCAT System Time.
A “DC-slave” is defined as slave who shall be synchronized by means of distributed clocks. During network start-up several steps have to be performed by the EC-Master to set-up a consistent time base in all DC-slaves:
Initial propagation delay measurement and compensation (ETG.8000)
Offset compensation (ETG.8000)
Set start time (ETG.8000)
After network start-up: continuous drift compensation (ETG.8000)
The Master must synchronize itself on the reference clock (ETG.1020) -> DCM
Reference:
ETG.1000.3 and ETG.1000.4
ETG.1020 -> Synchronization
ETG.8000 -> Distributed Clocks